Optimization-based path-planning framework considering process properties of industrial manufacturing processes

Christian Hartl-Nesic, Thomas Weingartshofer, Andreas Kugi

Research output: Chapter in Book or Conference ProceedingsConference Proceedings with Oral Presentation

Abstract

This paper presents a flexible robotic path-
planning framework for complex industrial processes. The
framework considers the process properties, including process
tolerances and windows, constraints, and redundant degrees
of freedom. By considering the process properties in an
optimization-based approach, challenging path-planning prob-
lems can be solved which exceed the capabilities of state-of-
the-art path planners. The effectiveness of the path planner is
validated through two different scenarios: a drawing process
and a spraying process. The results demonstrate the ability of
the proposed framework to generate feasible trajectories for
executing complex industrial processes.
Original languageEnglish
Title of host publicationProceedings of the IROS Workshop on Task and Motion Planning: From Theory to Practice
Pages1-3
Publication statusPublished - Oct 2023
Event2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Detroit, United States
Duration: 1 Oct 20235 Oct 2023

Conference

Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryUnited States
CityDetroit
Period1/10/235/10/23

Research Field

  • Complex Dynamical Systems

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